// --------------------------------------------------------------------------------------------------------------------
// <copyright file="LinearCartesianTouchControlMessage.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
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namespace Microsoft.Robotics.Manipulation.Runtime
{
    using System;
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;

    /// <summary>
    /// The LinearCartesianTouchControlMessage indicates a command to move linearly
    /// to the specified Cartesian position/orientation, stopping and holding position
    /// if the magnitude of the force on the tool control point exceeds the specified
    /// threshold.
    /// </summary>
    [DataContract]
    public class LinearCartesianTouchControlMessage : AgentMessage
    {
        /// <summary>
        /// Initializes a new instance of the <see cref="LinearCartesianTouchControlMessage" /> class.
        /// Indicates a command to move linearly to the specified Cartesian position/orientation
        /// </summary>
        /// <param name="originatingTime">Message creation time. </param>
        /// <param name="cartesianPosition">Desired Cartesian position. </param>
        /// <param name="maxLinearCartesianSpeedInMetersPerSecond"> Maximum linear speed in m/s. </param>
        /// <param name="maxRotationalCartesianSpeedInRadiansPerSecond"> Maximum rotational speed in rad/s. </param>
        /// <param name="forceThresholdInNewtons"> Force threshold for stopping motion. </param>
        public LinearCartesianTouchControlMessage(
            long originatingTime,
            Pose cartesianPosition,
            double maxLinearCartesianSpeedInMetersPerSecond,
            double maxRotationalCartesianSpeedInRadiansPerSecond,
            double forceThresholdInNewtons)
            : base(originatingTime)
        {
            if (cartesianPosition == null)
            {
                throw new ArgumentException("cartesianPosition cannot be null");
            }

            if (maxLinearCartesianSpeedInMetersPerSecond <= 0)
            {
                throw new ArgumentException("maxLinearCartesianSpeedInMetersPerSecond must be positive");
            }

            if (maxRotationalCartesianSpeedInRadiansPerSecond <= 0)
            {
                throw new ArgumentException("maxRotationalCartesianSpeedInRadiansPerSecond must be positive");
            }

            if (forceThresholdInNewtons <= 0)
            {
                throw new ArgumentException("forceThresholdInNewtons must be positive");
            }

            this.CartesianPosition = cartesianPosition;
            this.ForceThresholdInNewtons = forceThresholdInNewtons;
            this.MaxLinearCartesianSpeedInMetersPerSecond = maxLinearCartesianSpeedInMetersPerSecond;
            this.MaxRotationalCartesianSpeedInRadiansPerSecond = maxRotationalCartesianSpeedInRadiansPerSecond;
        }

        /// <summary>
        /// Gets the desired Cartesian position.
        /// </summary>
        [DataMember]
        public Pose CartesianPosition { get; private set; }

        /// <summary>
        /// Gets force magnitude threshold for stopping motion.
        /// </summary>
        [DataMember]
        public double ForceThresholdInNewtons { get; private set; }

        /// <summary>
        /// Gets maximum linear speed
        /// </summary>
        [DataMember]
        public double MaxLinearCartesianSpeedInMetersPerSecond { get; private set; }

        /// <summary>
        /// Gets maximum rotational speed
        /// </summary>
        [DataMember]
        public double MaxRotationalCartesianSpeedInRadiansPerSecond { get; private set; }
    }
}
